RoamingWithIr.bs2 -- Detecting objects from too far away?

eMarston15

Hey, guys. I was working on RoamingWithIr.bs2 (below), and I noticed that instead of detecting objects when it reaches them, the Boe-Bot is detecting and turning in response to objects that are 2-3 feet away. Could someone take a look at the script and see if there's something that can be changed to fix this, or if it's a wiring problem?

'

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[ Title ]

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' Robotics with the Boe-Bot - RoamingWithIr.bs2
' Adapt RoamingWithWhiskers.bs2 for use with IR object detectors.
' {$STAMP BS2}
' {$PBASIC 2.5}

'

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[ Variables ]

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irDetectLeft VAR Bit
irDetectRight VAR Bit
pulseCount VAR Byte

'

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[ Initialization ]

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FREQOUT 4, 2000, 3000

'

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[ Main Routine ]

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DO
FREQOUT 8, 1, 38500 'Store IR detection values in
irDetectLeft = IN9 'bit variables

FREQOUT 2, 1, 38500
irDetectRight = IN0

IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Turn_Left
ELSEIF (irDetectLeft = 0) THEN
GOSUB Back_Up
GOSUB Turn_Right
ELSEIF (irDetectRight = 0) THEN
GOSUB Back_Up
GOSUB Turn_Left
ELSE
GOSUB Forward_Pulse
ENDIF
LOOP

'

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[ Subroutines ]

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Forward_Pulse:
PULSOUT 13,837
PULSOUT 12,678
PAUSE 20
RETURN

Turn_Left:
FOR pulseCount = 0 TO 20
PULSOUT 13,678
PULSOUT 12,678
PAUSE 20
NEXT
RETURN

Turn_Right:
FOR pulseCount = 0 TO 20
PULSOUT 13,837
PULSOUT 12,837
PAUSE 20
NEXT
RETURN

Back_Up:
FOR pulseCount = 0 TO 40
PULSOUT 13,678
PULSOUT 12,837
PAUSE 20
NEXT
RETURN

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Thanks, guys!

Chris Savage

If the detection distance is the issue this doesn't sound code related, but rather hardware related. Assuming you have the correct resistors on the IR LEDs I would run the IR Test program again and adjust the orientation of the LEDs and Detectors.